Research On COM Control System Of The Lower Limbs Rehabilitative Robot

Rehabilitative robot is a new technology that has been developed rapidly in recent years, that represents the robots application in the medical field. Lower limbs rehabilitative robot is one kind of the reha-robot. Lower limbs rehabilitative robot can simulate the motion of normal human's walking gesture and support partly weight of the body, give the patients rehabilitative training to help them recover from illness. The main research of this paper includes the structure design, HIL(hardware in loop) simulation, control system design and experiment with the prototype.The developing situation of Rehabilitative robot and wire-driven are reviewed systematically in this paper, it puts forward the overall structure scheme for COM(center of mass) control robot. In the paper the kinematics models and the kinematical analysis of the COM control system based on Simulink of Matlab are introduced simply. With the simulation of hardware in in loop and the instruction "ident" in Matlab, the math model of this system is got, then design the PID controller using sisotool of Matlab. These provide the theoretic basis of optimization designing.Based on the simulation , the control system for the COM control robot have been developed, several circuit are studied and designed in this paper including microcontroller circuit using TMS320LF2407A, the memory circuit, the 3.3V-5V level exchanging circuit ,the encoder input circuit ,the serial communication circuit etc. The embedded controller software based on the C language is also designed .At the end of this paper, the experiments with the COM control robot prototype are introduced. They are hardware and system performance test experiments. Experiment results indicate that the machinery and control system of the robot reach the design request, and this robot has good rehabilitative effect.